Thesis Code: 23005
Thesis Type: M.Sc. thesis in Computer Science, Mechatronics, Electronics, Information Technology
Research Domain: Connected Systems & Cybersecurity
Requirements
– Computer Science, Electronics, or similar background
– C programming languages
– Knowledge on STM32 arm cortex processors will be considered a plus
– Linux OS knowledge will be considered a plus
– Proactive mindset, problem-solving oriented
Motivation
In the context of Indoor Positioning System (IPS), based on the Ultra-Wideband (UWB) technology, LINKS has developed a large scale Real Time Locating System (RTLS) with the aim of enabling autonomous navigation of Unmanned Aerial Vehicles (UAV) in indoor environments of any size. The UWB localisation system is composed of the following components: (i) fixed devices, located at known positions, called Anchors, (ii) mobile devices that need to be localized, called Tags, (iii) a localization server that executes a centralized localization algorithm and (iv) a Graphic User Interface (GUI) that displays the current status of the RTLS. To meet the stringent robotics requirements some features of the RTLS need to be enhanced and the current localization performance needs to be improved.
Objectives
The aim of this thesis is to analyse the new robotics requirements, analyse the existing Firmware (FW) solution for the UWB devices (i.e., Tags, Anchors), and design and develop the Firmware upgrade accordingly. The current RTLS is based on a Time Division Multiple Access (TDMA) protocol, which allows the localization of many Tags, and employs a ranging method called Two-Way Ranging (TWR), which avoids the need to have Anchors perfectly synchronized in time.
In order to enhance the UWB-based RTLS some new important features need to be implemented such as: autocalibration of the Anchors, uplink and downlink of the UWB communication between the localization server and the Tags, make the TDMA protocol customizable for different needs (e.g., localization frequency, number of Anchors involved in the ranging process with a Tag).
The implemented new FW solutions will be tested in the Robotic Laboratory by using UWB devices developed by LINKS. Moreover, the localization performance will be evaluated by using our VICON system, based on infrared cameras, as a ground truth.
Duration: 6-8 months.
Contact: please send a resume with attached the list of exams passed during the Bachelor of Science and Master of Sciences to delos.campos@linksfoundation.com and francesco.sottile@linksfoundation.com